Retrieval-augmented generation (RAG) systems are increasingly deployed in sensitive domains such as healthcare and law, where they rely on private, domain-specific knowledge. This capability introduces significant security risks, including membership inference, data poisoning, and unintended content leakage. A straightforward mitigation is to enable all relevant defenses simultaneously, but doing so incurs a substantial utility cost. In our experiments, an always-on defense stack reduces contextual recall by more than 40%, indicating that retrieval degradation is the primary failure mode. To mitigate this trade-off in RAG systems, we propose the Sentinel-Strategist architecture, a context-aware framework for risk analysis and defense selection. A Sentinel detects anomalous retrieval behavior, after which a Strategist selectively deploys only the defenses warranted by the query context. Evaluated across three benchmark datasets and five orchestration models, ADO is shown to eliminate MBA-style membership inference leakage while substantially recovering retrieval utility relative to a fully static defense stack, approaching undefended baseline levels. Under data poisoning, the strongest ADO variants reduce attack success to near zero while restoring contextual recall to more than 75% of the undefended baseline, although robustness remains sensitive to model choice. Overall, these findings show that adaptive, query-aware defense can substantially reduce the security-utility trade-off in RAG systems.